30 August -1 September , 2011

Birmingham, UK

Comparison of Direct Voltage Control

Methods for MTDC Networks

R. Teixeira Pinto, PhD. Student

Technische Universiteit Delft
30 August 2011 R. Teixeira Pinto Slide 1 of 20
 Contents
•Introduction
•The North Sea Transnational
Grid
•Standardization
•Operation & Control
•Case Study
•Control Strategies
•Comparison
•Conclusion
30 August 2011 R. Teixeira Pinto Slide 2 of 20
 Introduction
In Europe
•Electricity Consumption: 3042 TWh (2009)
•Add 600 TWh from renewable sources up to
2020
EU-27 National Renewable Energy
Action Plan

Electricity: 42% of all Renewable Energy

Wind : 41% of all Renewable Electricity
Offshore : 28 % of all Wind Energy

 circa 44 GW of Offshore Wind by 2020

30 August 2011 R. Teixeira Pinto Slide 3 of 20

 North Sea Grid
N.A. Cabling
Risk PROS Access
Logistics Trade
CONS
Innovation Storage
Connection Integration

Political Framework: The North Sea Countries

Offshore Grid Initiative

Point-to-point Grid Solution

30 August 2011 R. Teixeira Pinto Slide 4 of 20
 Operation & Control
•Grid Codes
AC •TSO ensures Supply =
Networks Demand
•Stability: Power Plants
control AC system frequency

•Modularity +
DC Standardization
Networks •Power IN = Power OUT
•Stability: DC Voltage control
at the HVDC converter
stations.
30 August 2011 R. Teixeira Pinto Slide 5 of 20
 Standardization
Need for Grid Codes (akin AC Systems)

•DC Network voltage levels

•Size and topology of HVDC stations
•Size of the DC cables
•Protection philosophy
•Control strategy

 CIGRÉ working group B4.52

30 August 2011 R. Teixeira Pinto Slide 6 of 20
 Case Study
• 4 Terminal MTDC Network: 2 WFs + 2 AC Grids
• Terminal ratings: ± 200 kV / 500 MW

Time [s] 0 0,50 1,00 1,50 2,00 3,00

WF1 Power [pu] 0 0,50 0,50 0,80 0,80 0,50
WF2 Power [pu] 0 0 0,40 0,40 0,80 0,40

30 August 2011 R. Teixeira Pinto Slide 7 of 20

 Case Study
Control
Methods CRITERIA
Analyzed

•Droop
• Dynamic Response
•Ratio • Expandability
•Priority • Flexibility
• Communication Needs
•Voltage
Margin
30 August 2011 R. Teixeira Pinto Slide 8 of 20
 Droop Control
Vdc
Vdcmax PC1 WC1 VDC1 iq*1
1.05
2 Vdc [ pu ]

1.00 V dc0 sC i*q [ pu]

Droop regulator VSC1

0.95 Vdcmin
PC 2 WC 2 VDC 2 iq*2
2 Vdc [ pu ]

I dc sC i*q [ pu]

Rectifier Inverter Droop regulator VSC2

-1 0 +1

DC Power at the VSC stations - Droop DC Voltage at the VSC stations - Droop
1.2 1.05
VSC 1 VSC 1
1 1.04
VSC 2 VSC 2
0.8 WF 1 WF 1
WF 2 1.03 WF 2
0.6
1.02
0.4
0.2 1.01
Pdc [pu]

Vdc [pu]
0 1
-0.2 0.99
-0.4
0.98
-0.6
0.97
-0.8
-1 0.96

-1.2 0.95
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time [s] time [s]

30 August 2011 R. Teixeira Pinto Slide 9 of 20

 Droop Control
Dynamic Controlla
Method Expandability Telcomm
Response bility
Droop High Medium Low Low

DC Power at the VSC stations - Droop DC Voltage at the VSC stations - Droop
1.2 1.05
VSC 1 VSC 1
1 1.04
VSC 2 VSC 2
0.8 WF 1 WF 1
WF 2 1.03 WF 2
0.6
1.02
0.4
0.2 1.01
Pdc [pu]

Vdc [pu]
0 1
-0.2 0.99
-0.4
0.98
-0.6
0.97
-0.8
-1 0.96

-1.2 0.95
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time [s] time [s]

30 August 2011 R. Teixeira Pinto Slide 10 of 20

 Ratio Control
Vdc
Vdcmax PC1 WC1 VDC1 iq*1
1.05 2 2 Vdc [ pu ]

1.02 Vdcmax
1 sC i*q [ pu]

Droop regulator VSC1

0.97 Vdcmin
PC 2 WC 2 VDC 2 iq*2
2 Vdc [ pu ]

I dc sC i*q [ pu]

Rectifier Inverter Droop regulator VSC2

-1 0 +1

DC Power at the VSC stations - Ratio DC Voltage at the VSC stations - Ratio
1.2 1.05
VSC 1 VSC 1
1 1.04
VSC 2 VSC 2
0.8 WF 1 WF 1
WF 2 1.03 WF 2
0.6
1.02
0.4
0.2 1.01
Pdc [pu]

Vdc [pu]
0 1
-0.2 0.99
-0.4
0.98
-0.6
0.97
-0.8
-1 0.96

-1.2 0.95
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time [s] time [s]

30 August 2011 R. Teixeira Pinto Slide 11 of 20

 Ratio Control
Dynamic
Method Expandability Flexibility Telcomm
Response
Ratio High Low Medium Medium

DC Power at the VSC stations - Ratio DC Voltage at the VSC stations - Ratio
1.2 1.05
VSC 1 VSC 1
1 1.04
VSC 2 VSC 2
0.8 WF 1 WF 1
WF 2 1.03 WF 2
0.6
1.02
0.4
0.2 1.01
Pdc [pu]

Vdc [pu]
0 1
-0.2 0.99
-0.4
0.98
-0.6
0.97
-0.8
-1 0.96

-1.2 0.95
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time [s] time [s]

30 August 2011 R. Teixeira Pinto Slide 12 of 20

 Priority Control
Vdc
1.05 Vdcmax WC*1
1.02 Vdcmin PC1 WC1
+
*
2
2 WC1 K iq*1
1.00 Vdc1 K pw  iw
min
sC - s
0.95 V dc PI regulator VSC1

PC 2 WC 2 VDC 2 iq*2
2 Vdc [ pu]

I dc
Rectifier Inverter
sC i *q [ pu ]

-1 0 +1 Droop regulator VSC2

DC Power at the VSC stations - Priority DC Voltage at the VSC stations - Priority
1.2 1.05
VSC 1 VSC 1
1 1.04
VSC 2 VSC 2
0.8 WF 1 WF 1
WF 2 1.03 WF 2
0.6
1.02
0.4
0.2 1.01
Pdc [pu]

Vdc [pu]
0 1
-0.2 0.99
-0.4
0.98
-0.6
0.97
-0.8
-1 0.96

-1.2 0.95
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time [s] time [s]

30 August 2011 R. Teixeira Pinto Slide 13 of 20

 Priority Control
Dynamic
Method Expandability Flexibility Telcomm
Response
Priority Medium Medium Medium Low

DC Power at the VSC stations - Priority DC Voltage at the VSC stations - Priority
1.2 1.05
VSC 1 VSC 1
1 1.04
VSC 2 VSC 2
0.8 WF 1 WF 1
WF 2 1.03 WF 2
0.6
1.02
0.4
0.2 1.01
Pdc [pu]

Vdc [pu]
0 1
-0.2 0.99
-0.4
0.98
-0.6
0.97
-0.8
-1 0.96

-1.2 0.95
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time [s] time [s]

30 August 2011 R. Teixeira Pinto Slide 14 of 20

 Voltage Margin
lim
Vdc max PINV
1.05 V VDC
DC
*HIGH
VDC
-
VDC Kiwp
K pwp 
1.02
*HIGH
VDC + s

*LOW
*
PAC PAC
0.98 VDC K 'pp 
K ip'

+ -
s

PAC
*LOW
VDC VDC K wp K ip iq*
PDC K  i wp
K pp 
+ +
p
s s
Rectifier
0
Inverter
VDC
- -
lim * lim PAC
PREC PAC PINV P lim
REC

DC Power at the VSC stations - Voltage Margin DC Voltage at the VSC stations - Voltage Margin
1.2
VSC 1 1.12 VSC 1
1
VSC 2 VSC 2
0.8 WF 1 1.1 WF 1
WF 2 WF 2
0.6 1.08
0.4
1.06
0.2
Pdc [pu]

Vdc [pu]
1.04
0
-0.2 1.02
-0.4 1
-0.6
0.98
-0.8
-1 0.96

-1.2 0.94
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time [s] time [s]

30 August 2011 R. Teixeira Pinto Slide 15 of 20

 Voltage Margin
Dynamic
Method Expandability Flexibility Telcomm
Response
Voltage
Low High High Medium
Margin

DC Power at the VSC stations - Voltage Margin DC Voltage at the VSC stations - Voltage Margin
1.2
VSC 1 1.12 VSC 1
1
VSC 2 VSC 2
0.8 WF 1 1.1 WF 1
WF 2 WF 2
0.6 1.08
0.4
1.06
0.2
Pdc [pu]

Vdc [pu]
1.04
0
-0.2 1.02
-0.4 1
-0.6
0.98
-0.8
-1 0.96

-1.2 0.94
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time [s] time [s]

30 August 2011 R. Teixeira Pinto Slide 16 of 20

 Comparison
Dynamic
Method Expandability Flexibility Telcomm
Response
Voltage
Low High High Medium
Margin
Priority Medium Medium Medium Low
Ratio High Low Medium Medium
Droop High Medium Low Low

30 August 2011 R. Teixeira Pinto Slide 17 of 20

 Conclusions

30 August 2011 R. Teixeira Pinto Slide 18 of 20

 Conclusions

THANK YOU
FOR YOUR ATTENTION.

email: r.teixeirapinto@tudelft.nl

30 August 2011 R. Teixeira Pinto Slide 19 of 20